WO2021187419A1 - 支持装置 - Google Patents

支持装置 Download PDF

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Publication number
WO2021187419A1
WO2021187419A1 PCT/JP2021/010380 JP2021010380W WO2021187419A1 WO 2021187419 A1 WO2021187419 A1 WO 2021187419A1 JP 2021010380 W JP2021010380 W JP 2021010380W WO 2021187419 A1 WO2021187419 A1 WO 2021187419A1
Authority
WO
WIPO (PCT)
Prior art keywords
support
members
pair
urging
support device
Prior art date
Application number
PCT/JP2021/010380
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
木村睦
Original Assignee
ファナック株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ファナック株式会社 filed Critical ファナック株式会社
Priority to CN202180021451.1A priority Critical patent/CN115279551B/zh
Priority to DE112021001721.7T priority patent/DE112021001721T5/de
Priority to US17/910,850 priority patent/US12257668B2/en
Priority to JP2022508346A priority patent/JP7405947B2/ja
Publication of WO2021187419A1 publication Critical patent/WO2021187419A1/ja

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
    • B25B23/02—Arrangements for handling screws or nuts
    • B25B23/08—Arrangements for handling screws or nuts for holding or positioning screw or nut prior to or during its rotation
    • B25B23/10—Arrangements for handling screws or nuts for holding or positioning screw or nut prior to or during its rotation using mechanical gripping means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B1/00—Vices
    • B25B1/24—Details, e.g. jaws of special shape, slideways
    • B25B1/2405—Construction of the jaws
    • B25B1/2452—Construction of the jaws with supplementary jaws
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
    • B23B31/02—Chucks
    • B23B31/10—Chucks characterised by the retaining or gripping devices or their immediate operating means
    • B23B31/12—Chucks with simultaneously-acting jaws, whether or not also individually adjustable
    • B23B31/16—Chucks with simultaneously-acting jaws, whether or not also individually adjustable moving radially
    • B23B31/1627—Details of the jaws
    • B23B31/16275—Form of the jaws
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23G—THREAD CUTTING; WORKING OF SCREWS, BOLT HEADS, OR NUTS, IN CONJUNCTION THEREWITH
    • B23G3/00—Arrangements or accessories for enabling machine tools not specially designed only for thread cutting to be used for this purpose, e.g. arrangements for reversing the working spindle
    • B23G3/06—Arrangements or accessories for enabling machine tools not specially designed only for thread cutting to be used for this purpose, e.g. arrangements for reversing the working spindle for compensating inaccuracies in the pitch of the lead-screw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
    • B23Q3/06—Work-clamping means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B1/00—Vices
    • B25B1/20—Vices for clamping work of special profile, e.g. pipes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B1/00—Vices
    • B25B1/24—Details, e.g. jaws of special shape, slideways
    • B25B1/2405—Construction of the jaws
    • B25B1/241—Construction of the jaws characterised by surface features or material
    • B25B1/2415—Construction of the jaws characterised by surface features or material being composed of a plurality of parts adapting to the shape of the workpiece
    • B25B1/2421—Construction of the jaws characterised by surface features or material being composed of a plurality of parts adapting to the shape of the workpiece the parts having a linear movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B5/00—Clamps
    • B25B5/003—Combinations of clamps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0004—Gripping heads and other end effectors with provision for adjusting the gripped object in the hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

Definitions

  • the present invention relates to a support device that supports a support object having a circumferential surface.
  • a support device such as an air chuck provided for supporting an object to be supported is generally well known. Further, a rotary joint that rotates a support object and a support device that supports the support object is also generally well known. An example thereof is disclosed in, for example, Jikkaihei 05-053886.
  • a general support device is one that rotates together with a support object when the support object is rotated by a rotary joint, as explained on the premise of Japanese Patent Application Laid-Open No. 05-0538886.
  • Such a support device cannot meet the demand for rotating only the support object without rotating the support device, for example, in a situation where space is limited.
  • an object of the present invention is to provide a support device that rotatably supports a support object without rotating itself.
  • One aspect of the present invention is a support device for supporting a support object having a circumferential surface, which is slidably provided with respect to a base portion and the base portion and sandwiches the circumferential surface from both sides.
  • a pair of support members provided with arcuate notches, a plurality of first urging members for urging the pair of support members in an approaching direction approaching each other, and the notches of each of the pair of support members.
  • a plurality of bearing portions provided along the portions for sandwiching the support object so that the support object can rotate about the axis of the support object, and the plurality of bearing portions are the support object.
  • a plurality of second urging members for urging the plurality of bearing portions toward the support object, and the plurality of first urging members are the pair of support members. The urging force of the plurality of first urging members and the urging of the plurality of second urging members so that the plurality of bearing portions can sandwich the support object with a force stronger than the urging force.
  • the power is set.
  • a support device that rotatably supports a support object without rotating itself.
  • FIG. 2 is a sectional view taken along line VV of FIG. It is the first figure for demonstrating the pinching of the support object by a pair of support members. It is a 2nd figure for demonstrating the pinching of the support object by a pair of support members. It is the first figure for demonstrating the pinching of the support object by a plurality of bearing portions. It is a 2nd figure for demonstrating the pinching of the support object by a plurality of bearing portions. It is a figure for demonstrating the structure of the support device of the modification 1.
  • FIG. FIG. 10 is a cross-sectional view taken along the line XI-XI of FIG.
  • FIG. 1 is a perspective view of the support device 10 of the embodiment.
  • FIG. 2 is a top view of the support device 10 of the embodiment.
  • FIG. 3 is a bottom view of the support device 10 of the embodiment. The directions of up, down, left, right, front and back described below follow the arrows shown in each drawing.
  • the support device 10 of the present embodiment is a device provided for supporting a support object W (FIG. 4) having a circumferential surface 32.
  • the support device 10 includes a base portion 12, a pair of support members 14, a plurality of first urging members 16, a plurality of bearing portions 18, a plurality of second urging members 20, and an actuator 22.
  • a control unit 24 is provided.
  • each of these elements will be described.
  • the base portion 12 is a plate-shaped member, and the material contains metal.
  • the base portion 12 illustrated in the present embodiment has a longitudinal length in the left-right direction and a short side in the front-rear direction, but the base portion 12 is not limited to one having a longitudinal length and a short side.
  • a hole (first opening) 26 that penetrates the base portion 12 in the thickness direction (vertical direction) is provided in the center of the base portion 12.
  • the first opening 26 secures visibility for the support object W sandwiched by the pair of support members 14 or the plurality of bearing portions 18, which will be described later, and approaches the support object W with a tool T (FIG. 9) or the like. It is to make things easier and to achieve.
  • the pair of support members 14 face each other in the left-right direction and have a left support member 14A and a right support member 14B that are symmetrically configured with each other.
  • Each of the pair of support members 14 is a substantially flat metal member slidably provided with respect to the base portion 12, and is provided with an arc-shaped notch 28.
  • the notch 28 is provided on the right side surface of the support member 14A facing the support member 14B, and is provided on the left side surface of the support member 14B facing the support member 14A.
  • the two notches 28 face each other in the left-right direction.
  • a plurality of radial elongated holes 28s for slidably providing the bearing portion 18 described later are formed on the surface of the notch 28, a plurality of radial elongated holes 28s for slidably providing the bearing portion 18 described later are formed.
  • the arrangement of the plurality of elongated holes 28s provided in the support member 14A and the arrangement of the plurality of elongated holes 28s provided in the support member 14B are symmetrical.
  • a radial slit may be formed in the notch 28.
  • the surface of the notch 28 is formed with an uneven shape 30 along the vertical direction. The reason will be described later.
  • the support object W is a screw member having a circular head in the present embodiment.
  • the supporting object W is not limited to the screw member, and may be, for example, a simple cylindrical member.
  • the circumferential surface 32 of the support object W includes not only a circular end surface but also a circular cross section as a meaning.
  • the support object W has an axis 34 passing through the center of the circumferential surface 32.
  • the plurality of first urging members 16 urge a pair of supporting members 14 in the approaching direction.
  • the approaching direction is a direction parallel to the facing direction of the pair of supporting members 14, and refers to a direction in which the pair of supporting members 14 approach each other. That is, the approaching direction refers to the right direction toward the support member 14B for the support member 14A, and refers to the left direction toward the support member 14A for the support member 14B.
  • each of the plurality of first urging members 16 is an elastic compression coil spring in the present embodiment.
  • the plurality of first urging members 16 are not limited to the compression coil spring.
  • first urging members 16 are connected to each of the pair of support members 14. Of these, in the first urging member 16 connected to the support member 14A, one end 16a is connected to the side opposite to the support member 14B of the support member 14A, and the other end 16b is connected to the base portion 12. Similarly, in the first urging member 16 connected to the support member 14B, one end 16a is connected to the side opposite to the support member 14A of the support member 14B, and the other end 16b is connected to the base portion 12.
  • the two first urging members 16 connected to the support member 14A are paired with each other in the front-rear direction with respect to the support member 14A.
  • the urging force applied to the support member 14A from one first urging member 16 connected to the support member 14A and the urging force applied to the support member 14A from the other first urging member 16 Becomes even.
  • the two first urging members 16 connected to the support member 14B are paired with each other in the front-rear direction with respect to the support member 14B.
  • the urging force applied to the support member 14B from one first urging member 16 connected to the support member 14B and the urging force applied to the support member 14B from the other first urging member 16 Becomes even.
  • the set of the two first urging members 16 connected to the support member 14A and the set of the two first urging members 16 connected to the support member 14B are paired with each other in the left-right direction. As a result, the urging force applied to the support member 14A and the urging force applied to the support member 14B become equal.
  • FIG. 4 is a perspective view showing a state in which the support object W is arranged between the two notches 28.
  • the pair of support members 14 can move in the separation direction opposite to the approach direction as shown in FIG. 4 by contracting the plurality of first urging members 16.
  • the contraction of the plurality of first urging members 16 can be easily achieved by using the actuator 22 described later.
  • a support object W having a circumferential surface 32 and an axis 34 passing through the center of the circumferential surface 32 can be arranged between the two notch portions 28 facing each other. As a result, the support object W is sandwiched by the two notches 28 from both sides of the circumferential surface 32.
  • FIG. 5 is a cross-sectional view taken along the line VV of FIG.
  • the plurality of bearing portions 18 are parts provided in the plurality of elongated holes 28s of the notch portions 28. Each of the plurality of bearing portions 18 is provided one by one for each elongated hole 28s. Each of them also has a rolling element 36 and a support 38.
  • the rolling element 36 is, for example, a radial bearing itself, and has an axis (rotating axis) parallel to the axis 34 (FIG. 6) of the support object W arranged between the two notches 28. ) 39.
  • the support 38 is a member that rotatably supports the rolling element 36.
  • the support 38 is provided above the elongated hole 28s and has a width larger than the short side of the elongated hole 28s (width in the depth direction and the front direction of the paper surface in FIG. 5). Therefore, the support 38 does not fall downward through the elongated hole 28s.
  • the support 38 and the support member 14 are not fixed to each other. As a result, the support 38 can slide with respect to the support member 14.
  • the support 38 has an extending portion 38a through which the elongated hole 28s is inserted, and a flange portion 38b that limits the movable width of the support 38 in the vertical direction.
  • the flange portion 38b is provided on the lower end side of the extending portion 38a, and by contacting the lower surface of the support member 14 from below, the sliding support 38 is restricted from moving upward.
  • the rolling element 36 is rotatably connected to the lower end of the extending portion 38a.
  • the rolling element 36 is a radial bearing
  • the inner ring of the radial bearing and the extending portion 38a may be connected.
  • the radial bearing can be supported by the support 38 while allowing the outer ring of the radial bearing to rotate.
  • the rolling element 36 may be a so-called roller (cylindrical roller, barrel-shaped roller, etc.).
  • the roller may be made rotatable by providing a bearing structure that rotatably supports the roller in the extending portion 38a, or the extending portion 38a is fixed to the roller and the extending portion 38a is rotated.
  • a bearing structure that can support the support 38 may be provided.
  • the plurality of second urging members 20 are members that urge the plurality of bearing portions 18 toward the support object W arranged between the two notch portions 28.
  • the plurality of second urging members 20 are arranged one by one on the extension of each of the plurality of elongated holes 28s provided radially on the support member 14, and expand and contract along the longitudinal direction. do. As a result, the bearing portion 18 slides along the longitudinal direction of the elongated hole 28s in accordance with the expansion and contraction of the second urging member 20.
  • the urging force of the plurality of second urging members 20 is set to be stronger than the force of the plurality of first urging members 16 urging the pair of supporting members 14.
  • Each of the plurality of second urging members 20 is a compression coil spring in the present embodiment, but is not limited to the compression coil spring like the first urging member 16.
  • One second urging member 20 is connected to one bearing portion 18.
  • the bearing portion 18 has a state in which a part of the rolling element 36 protrudes from the notch portion 28 in a state where a compressive force is not applied to the second urging member 20 by the second urging member 20 connected to itself. It is held (Fig. 3).
  • the actuator 22 is provided on the base portion 12, and by moving the pair of support members 14 in the direction of approaching each other, the pair of support members 14 sandwich the support object W.
  • the actuator 22 is a pair of air cylinders that apply direct power in the left-right direction to the pair of support members 14 by driving the actuator 22.
  • One of the pair of air cylinders is connected to the support member 14A and the other air cylinder is connected to the support member 14B.
  • the actuator 22 is not limited to a pair of air cylinders as long as the pair of support members 14 are moved in the direction of approaching each other.
  • the actuator 22 may be configured by a hydraulic cylinder, a ball screw mechanism, or an electric motor.
  • control unit 24 switches between sandwiching the support object W by the pair of support members 14 and sandwiching the support object W by the plurality of bearing units 18. This switching will be described later.
  • the control unit 24 is the controller of the pair of air cylinders described above in the present embodiment.
  • the state in which the movement of the pair of support members 14 is controlled by the actuator 22 is referred to as the "on state” of the actuator 22. Further, a state in which the movement is not controlled by the actuator 22 is referred to as an “off state” of the actuator 22.
  • the support device 10 includes the control unit 24, it becomes easy to achieve the switching between the on state and the off state.
  • FIG. 6 is a first diagram for explaining the sandwiching of the support object W by the pair of support members 14.
  • the actuator 22 is a pair of support members 14 with a force stronger than the urging force of the plurality of second urging members 20 of the support member 14A and the urging force of the plurality of second urging members 20 of the support member 14B. Move each of them in the approaching direction. As a result, a pressing force is applied to the rolling element 36 from the supporting object W as the rolling element 36 moves. At this time, the plurality of second urging members 20 absorb the pressing force by contracting themselves.
  • FIG. 7 is a second diagram for explaining the sandwiching of the support object W by the pair of support members 14.
  • each notch 28 of the pair of support members 14 and the support object W come into contact with each other. ..
  • the sandwiching of the support object W by the pair of support members 14 is realized by maintaining this state.
  • the support object W is firmly sandwiched from both sides of the circumferential surface 32 by arc-shaped notches 28 provided in each of the pair of support members 14, and the support object W is firmly sandwiched from both sides of the circumferential surface 32. Rotation with respect to the support device 10 is suppressed. Therefore, the pinched state of FIG. 7 is suitable when it is not desired to rotate the supported object W.
  • this unevenness functions as a non-slip of the supporting object W.
  • the support object W is sandwiched by the pair of support members 14 so as not to rotate.
  • FIG. 8 is a first diagram for explaining the sandwiching of the support object W by the plurality of bearing portions 18.
  • This pinching can be realized by turning off the actuator 22. That is, when the actuator 22 is turned off, the pair of support members 14 are urged by the plurality of first urging members 16 in the direction of approaching each other. As a result, as in the case of moving by the actuator 22, the rolling elements 36 of the plurality of bearing portions 18 provided on the pair of support members 14 first come into contact with the support object W.
  • the urging force of the plurality of second urging members 20 that pushes the plurality of bearing portions 18 toward the support object W is such that the plurality of first urging members 16 are a pair of support members 14. Stronger than the force to urge. Therefore, when the actuator 22 is in the off state, the plurality of bearing portions 18 can sandwich the support object W by the rolling elements 36 of each bearing portion 18 without being pushed as in the case of FIG. 7. In this way, the support object W is sandwiched by the plurality of bearing portions 18.
  • FIG. 9 is a second diagram for explaining the sandwiching of the support object W by the plurality of bearing portions 18.
  • the screw member which is the object to be supported W can be rotatably supported by the support device 10, and the work of fastening to the other member W'can be easily performed.
  • the base portion 12 is provided with the first opening 26, the screw tightening tool T can easily access from the base portion 12 side to the support object W through the first opening 26. .. Since the support device 10 does not rotate during the fastening work, it can be easily fixed in one place, and the fastening work can be performed with good workability even in a place where the space is limited.
  • the support device 10 that rotatably supports the support object W without rotating itself is provided. Further, according to the configuration of the support device 10 of the present embodiment, the support object W can be supported so as not to rotate. Further, according to the configuration of the support device 10 of the present embodiment, it is possible to arbitrarily use the support object W to be rotatably supported and to be supported so as not to rotate.
  • FIG. 10 is a diagram for explaining the configuration of the support device 10 of the modified example 1.
  • FIG. 11 is a cross-sectional view taken along the line XI-XI of FIG.
  • the configuration of the bearing portion 18 is not limited to the embodiment.
  • the bearing portion 18 may have an accommodating portion 40, a rolling element 42, and a spherical sliding portion 44.
  • the bearing portion 18 of this modification will also be referred to as a bearing portion 18'.
  • the accommodating portion 40 is provided for accommodating the rolling element 42, and is provided with an opening (second opening) 46 that faces the support object W sandwiched between the pair of support members 14.
  • the accommodating portion 40 may be a plurality of cavities provided in the pair of support members 14.
  • the inner surface of the accommodating portion 40 that comes into contact with the accommodating rolling element 42 is preferably smooth so that the rolling element 42 can suitably perform the rolling described later.
  • the rolling element 42 of this modification is a member having a spherical shape and a diameter larger than that of the second opening 46 (R 42 > R 46 ).
  • the rolling element 42 is accommodated in the accommodating portion 40 as described above.
  • the rolling element 42 includes a metal as its material.
  • the spherical sliding portion 44 is a member connected to the second urging member 20 in the accommodating portion 40, and while supporting the rolling element 42 in a rollable manner, the rolling element 42 is moved toward the second opening 46. It is a member to be urged.
  • the spherical sliding portion 44 has a dish-like shape in the present embodiment.
  • the surface of the spherical sliding portion 44 in contact with the rolling element 42 is smooth as well as the inner surface of the accommodating portion 40.
  • the plurality of bearing portions 18' can rotatably sandwich the support object W. That is, in the configuration of this modification, the rolling element 42 is pressed toward the second opening 46 by the second urging member 20 via the spherical sliding portion 44, and a part thereof is pressed from the second opening 46. It is exposed to the outside of the accommodating portion 40. As a result, each rolling element 42 of the plurality of bearing portions 18' comes into contact with the support object W.
  • a plurality of second urging members 14 are urged.
  • a plurality of rolling elements 42 urged by the member 20 sandwich the support object W.
  • the rolling element 42 can roll itself, it allows the supporting object W with which it is in contact to rotate. Therefore, even in this modification, the support device 10 can rotatably support the support object W without rotating itself.
  • a pair of support members (14) provided with arc-shaped notches (28) that sandwich the peripheral surface (32) from both sides, and a plurality of bearings that urge the pair of support members (14) in an approaching direction approaching each other.
  • the support object (W) is the support object (W).
  • the plurality of bearing portions (18) can sandwich the support object (W) with a force stronger than the force by which the force member (16) urges the pair of support members (14).
  • the urging force of the urging member (16) of 1 and the urging force of the plurality of second urging members (20) are set.
  • This provides a support device (10) that rotatably supports the support object (W) without rotating itself.
  • the base portion (12) penetrates the base portion (12) in the thickness direction, and the support object (W) is sandwiched between the pair of support members (14) or the plurality of bearing portions (18).
  • a hole (26) facing the support object (W) may be provided in this state.
  • the support object (W) is sandwiched by the pair of support members (14), and the support object (W) is sandwiched by the plurality of bearing portions (18).
  • a control unit (24) for switching the above may be further provided. As a result, it is possible to easily switch between a state in which the object to be supported (W) is rotatably supported and a state in which the object to be supported (W) is supported so as not to rotate.
  • An uneven shape (30) may be formed on the surface of the notch (28) of the support member (14).
  • the concave-convex shape (30) functions as a non-slip, it is more preferably achieved to support the support object (W) so as not to rotate.
  • the plurality of bearing portions (18) include a rolling element (36) having a rotation axis (39) parallel to the axis (34) of the support object (W), and the plurality of second urging members (the plurality of second urging members (18).
  • a bearing portion (18) having a support (38) connected to one of 20) and rotatably supporting the rolling element (36) may be included.
  • the rolling element (36) having the rotation axis (39) parallel to the axis (34) rotatably sandwiches the support object (W).
  • Each of the plurality of bearing portions (18) has an accommodating portion (40) provided with an opening (46) sandwiched between the pair of supporting members (14) and facing the supporting object (W), and the accommodating portion (40).
  • a spherical rolling element (42) housed in a portion (40) and having a diameter (R 42 ) larger than the opening (46), and one of the plurality of second urging members (20).
  • a bearing portion (44) having a spherical sliding portion (44) which is connected to and supports the rolling element (42) so as to be rollable and urges the rolling element (42) toward the opening (46). 18) may be included.
  • the rolling element (42) that rolls in the accommodating portion (40) rotatably sandwiches the support object (W).

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Pivots And Pivotal Connections (AREA)
  • Jigs For Machine Tools (AREA)
  • Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)
  • Manipulator (AREA)
  • Mounting Of Bearings Or Others (AREA)
  • Rolling Contact Bearings (AREA)
  • Rollers For Roller Conveyors For Transfer (AREA)
PCT/JP2021/010380 2020-03-19 2021-03-15 支持装置 WO2021187419A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
CN202180021451.1A CN115279551B (zh) 2020-03-19 2021-03-15 支承装置
DE112021001721.7T DE112021001721T5 (de) 2020-03-19 2021-03-15 Tragvorrichtung
US17/910,850 US12257668B2 (en) 2020-03-19 2021-03-15 Support device
JP2022508346A JP7405947B2 (ja) 2020-03-19 2021-03-15 支持装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020049528 2020-03-19
JP2020-049528 2020-03-19

Publications (1)

Publication Number Publication Date
WO2021187419A1 true WO2021187419A1 (ja) 2021-09-23

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Application Number Title Priority Date Filing Date
PCT/JP2021/010380 WO2021187419A1 (ja) 2020-03-19 2021-03-15 支持装置

Country Status (5)

Country Link
US (1) US12257668B2 (enrdf_load_stackoverflow)
JP (1) JP7405947B2 (enrdf_load_stackoverflow)
CN (1) CN115279551B (enrdf_load_stackoverflow)
DE (1) DE112021001721T5 (enrdf_load_stackoverflow)
WO (1) WO2021187419A1 (enrdf_load_stackoverflow)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
USD1035730S1 (en) * 2020-03-31 2024-07-16 Mytide Therapeutics, Inc. Gripping device

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CN115279551A (zh) 2022-11-01
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